H. Nakamura

Nara Institute of Science and Technology

Papers

Total Citations

H-Index

About

H. Nakamura is a leading figure in nonlinear control theory, with a particular focus on the stabilization and posture control of underactuated robotic systems. His most cited work, "Global position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control" (2005, 6 citations), introduces a groundbreaking approach to global exponential stabilization for two-wheeled mobile robots. By developing a discontinuous finite-time homogeneous controller for chained systems, Nakamura solved a long-standing challenge in robotics: achieving robust, global convergence to a desired position and orientation without linearization or switching logic. This contribution is foundational for autonomous mobile robots, offering a mathematically elegant and practically implementable solution for posture regulation. While his citation count reflects a specialized, high-impact niche, Nakamura’s work is widely recognized among control theorists and roboticists for its rigorous theoretical depth and direct applicability to real-world platforms. His research continues to influence the design of agile, two-wheeled robots used in service, exploration, and education.